| Formatted contents note |
Machine generated contents note: <br/>1.1.Historical Perspective, --<br/>1.2.Kinematics, --<br/>1.3.Design: Analysis and Synthesis, --<br/>1.4.Mechanisms, --<br/>1.5.Planar Linkages, --<br/>1.6.Visualization, --<br/>1.7.Constraint Analysis, --<br/>1.8.Constraint Analysis of Spatial Linkages, --<br/>1.9.Idle Degrees of Freedom, --<br/>1.10.Overconstrained Linkages, --<br/>1.11.Uses of the Mobility Criterion, --<br/>1.12.Inversion, --<br/>1.13.Reference Frames, --<br/>1.14.Motion Limits, --<br/>1.15.Continuously Rotatable Joints, --<br/>1.16.Coupler-Driven Linkages, --<br/>1.17.Motion Limits for Slider-Crank Mechanisms, --<br/>1.18.Interference, --<br/>1.19.Practical Design Considerations, --<br/>1.19.1.Revolute Joints, --<br/>1.19.2.Prismatic Joints, --<br/>1.19.3.Higher Pairs, --<br/>1.19.4.Cams versus Linkages, --<br/>References, --<br/>Problems, --<br/>2.1.Introduction, --<br/>2.2.Geometric Constraint Programming, --<br/>2.3.Constraints and Program Structure, --<br/>2.3.1.Required Constraints, --<br/>2.3.2.Other Constraint Options, --<br/>2.3.3.Annotations, --<br/>2.3.4.Use of Drawing Layers, Note continued: 2.3.5.Limitations of GCP, --<br/>2.4.Initial Setup for a GCP Session, --<br/>2.4.1.Effect of Typical Constraints, --<br/>2.4.2.Unintended Constraints, --<br/>2.4.3.Layers, Line Type, and Line Color, --<br/>2.5.Drawing a Basic Linkage Using GCP, --<br/>2.5.1.Drawing a Four-Bar Linkage Using GCP, --<br/>2.5.2.Including Ground Pivots and Bushings, --<br/>2.5.3.Drawing a Slider-Crank Linkage, --<br/>2.6.Troubleshooting Graphical Programs Developed Using GCP, --<br/>References, --<br/>Problems, --<br/>Appendix 2A Drawing Slider Lines, Pin Bushings, and Ground Pivots, --<br/>2A.1.Slider Lines, --<br/>2A.2.Pin Bushings and Ground Pivots, --<br/>Appendix 2B Useful Constructions When Equation Constraints Are Not Available, --<br/>2B.1.Constrain Two Angles to Be Integral Multiples of Another Angle, --<br/>2B.2.Constrain a Line to Be Half the Length of Another Line, --<br/>2B.3.Construction for Scaling, --<br/>2B.4.Construction for Square Ratio v2/r, --<br/>2B.5.Construction for Function x = yz/r, --<br/>3.1.Introduction, Note continued: 3.2.Two-Position Double-Rocker Design, --<br/>3.2.1.Graphical Solution Procedure, --<br/>3.2.2.Solution Using Geometric Constraint Programming, --<br/>3.2.3.Numerical Solution Procedure, --<br/>3.3.Synthesis of Crank-Rocker Linkages for Specified Rocker Amplitude, --<br/>3.3.1.The Rocker-Amplitude Problem: Graphical Approach, --<br/>3.3.2.Alternative Graphical Design Procedure Based on Specification of A*B*, --<br/>3.3.3.Using GCP to Design Crank-Rocker and Crank-Shaper Mechanisms, --<br/>3.4.Motion Generation, --<br/>3.4.1.Introduction, --<br/>3.4.2.Two Positions, --<br/>3.4.3.Three Positions with Selected Moving Pivots, --<br/>3.4.4.Synthesis of a Crank with Chosen Fixed Pivots, --<br/>3.4.5.Design of Slider-Cranks and Elliptic-Trammels, --<br/>3.4.6.Change of Branch, --<br/>3.4.7.Using GCP for Rigid-Body Guidance, --<br/>3.5.Path Synthesis, --<br/>3.5.1.Design of Six-Bar Linkages Using Coupler Curves, --<br/>3.5.2.Motion Generation for Parallel Motion Using Coupler Curves, --<br/>3.5.3.Cognate Linkages, Note continued: 3.5.4.Using GCP for Path Synthesis, --<br/>References, --<br/>Problems, --<br/>4.1.Introduction, --<br/>4.2.Graphical Position Analysis, --<br/>4.3.Planar Velocity Polygons, --<br/>4.4.Graphical Acceleration Analysis, --<br/>4.5.Graphical Analysis of a Four-Bar Mechanism, --<br/>4.6.Graphical Analysis of a Slider-Crank Mechanism, --<br/>4.7.Velocity Image Theorem, --<br/>4.8.Acceleration Image Theorem, --<br/>4.9.Solution by Geometric Constraint Programming, --<br/>4.9.1.Introduction, --<br/>4.9.2.Scaling Property of Velocity Polygons, --<br/>4.9.3.Using GCP to Analyze Linkages That Cannot Be Analyzed by Classical Means for Velocities, --<br/>References, --<br/>Problems, --<br/>5.1.Introduction, --<br/>5.2.Reference Frames, --<br/>5.3.General Velocity and Acceleration Equations, --<br/>5.3.1.Velocity Equations, --<br/>5.3.2.Acceleration Equations, --<br/>5.3.3.Chain Rule for Positions, Velocities, and Accelerations, --<br/>5.4.Special Cases for the Velocity and Acceleration Equations, --<br/>5.4.1.Two Points Fixed in a Moving Body, Note continued: 5.4.2.Two Points Are Instantaneously Coincident, --<br/>5.4.3.Two Points Are Instantaneously Coincident and in Rolling Contact, --<br/>5.5.Linkages with Rotating Sliding Joints, --<br/>5.6.Rolling Contact, --<br/>5.6.1.Basic Kinematic Relationships for Rolling Contact, --<br/>5.6.2.Modeling Rolling Contact Using a Virtual Linkage, --<br/>5.7.Cam Contact, --<br/>5.7.1.Direct Approach to the Analysis of Cam Contact, --<br/>5.7.2.Analysis of Cam Contact Using Equivalent Linkages, --<br/>5.8.General Coincident Points, --<br/>5.8.1.Velocity Analyses Involving General Coincident Points, --<br/>5.8.2.Acceleration Analyses Involving General Coincident Points, --<br/>5.9.Solution by Geometric Constraint Programming, --<br/>Problems, --<br/>6.1.Introduction, --<br/>6.2.Definition, --<br/>6.3.Existence Proof, --<br/>6.4.Location of an Instant Center from the Directions of Two Velocities, --<br/>6.5.Instant Center at a Revolute Joint, --<br/>6.6.Instant Center of a Curved Slider, --<br/>6.7.Instant Center of a Prismatic Joint, Note continued: 6.8.Instant Center of a Rolling Contact Pair, --<br/>6.9.Instant Center of a General Cam-Pair Contact, --<br/>6.10.Centrodes, --<br/>6.11.The Kennedy-Aronhold Theorem, --<br/>6.12.Circle Diagram as a Strategy for Finding Instant Centers, --<br/>6.13.Using Instant Centers to Find Velocities: The Rotating-Radius Method, --<br/>6.14.Finding Instant Centers Using Geometric Constraint Programming, --<br/>References, --<br/>Problems, --<br/>7.1.Introduction, --<br/>7.2.Position, Velocity, and Acceleration Representations, --<br/>7.2.1.Position Representation, --<br/>7.2.2.Velocity Representation, --<br/>7.2.3.Acceleration Representation, --<br/>7.2.4.Special Cases, --<br/>7.2.5.Mechanisms to Be Considered, --<br/>7.3.Analytical Closure Equations for Four-Bar Linkages, --<br/>7.3.1.Solution of Closure Equations for Four-Bar Linkages When Link 2 Is the Driver, --<br/>7.3.2.Analysis When the Coupler (Link 3) Is the Driving Link, --<br/>7.3.3.Velocity Equations for Four-Bar Linkages, Note continued: 7.9.Notational Differences: Vectors and Complex Numbers, --<br/>Problems, --<br/>8.1.Special Planar Mechanisms, --<br/>8.1.1.Introduction, --<br/>8.1.2.Straight-Line and Circle Mechanisms, --<br/>8.1.3.Pantographs, --<br/>8.2.Spherical Mechanisms, --<br/>8.2.1.Introduction, --<br/>8.2.2.Gimbals, --<br/>8.2.3.Universal Joints, --<br/>8.3.Constant-Velocity Couplings, --<br/>8.3.1.Geometric Requirements of Constant-Velocity Couplings, --<br/>8.3.2.Practical Constant-Velocity Couplings, --<br/>8.4.Automotive Steering and Suspension Mechanisms, --<br/>8.4.1.Introduction, --<br/>8.4.2.Steering Mechanisms, --<br/>8.4.3.Suspension Mechanisms, --<br/>8.5.Indexing Mechanisms, --<br/>8.5.1.Geneva Mechanisms, --<br/>References, --<br/>Problems, --<br/>9.1.Spatial Mechanisms, --<br/>9.1.1.Introduction, --<br/>9.1.2.Velocity and Acceleration Relationships, --<br/>9.2.Robotic Mechanisms, --<br/>9.3.Direct Position Kinematics of Serial Chains, --<br/>9.3.1.Introduction, --<br/>9.3.2.Concatenation of Transformations, --<br/>9.3.3.Homogeneous Transformations, Note continued: 9.4.Inverse Position Kinematics, --<br/>9.5.Rate Kinematics, --<br/>9.5.1.Introduction, --<br/>9.5.2.Direct Rate Kinematics, --<br/>9.5.3.Inverse Rate Kinematics, --<br/>9.6.Closed-Loop Linkages, --<br/>9.7.Lower-Pair Joints, --<br/>9.8.Motion Platforms, --<br/>9.8.1.Mechanisms Actuated in Parallel, --<br/>9.8.2.The Stewart-Gough Platform, --<br/>9.8.3.The 3-2-1 Platform, --<br/>References, --<br/>Problems, --<br/>10.1.Introduction, --<br/>10.2.Cam-Follower Systems, --<br/>10.3.Synthesis of Motion Programs, --<br/>10.4.Analysis of Different Types of Follower-Displacement Functions, --<br/>10.4.1.Uniform Motion, --<br/>10.4.2.Parabolic Motion, --<br/>10.4.3.Harmonic Follower-Displacement Programs, --<br/>10.4.4.Cycloidal Follower-Displacement Programs, --<br/>10.4.5.General Polynomial Follower-Displacement Programs, --<br/>10.5.Determining the Cam Profile, --<br/>10.5.1.Graphical Cam Profile Layout, --<br/>10.5.2.Analytical Determination of Cam Profile, --<br/>References, --<br/>Problems, --<br/>11.1.Introduction, --<br/>11.2.Spur Gears, Note continued: 11.3.Condition for Constant-Velocity Ratio, --<br/>11.4.Involutes, --<br/>11.5.Gear Terminology and Standards, --<br/>11.5.1.Terminology, --<br/>11.5.2.Standards, --<br/>11.6.Contact Ratio, --<br/>11.7.Involutometry, --<br/>11.8.Internal Gears, --<br/>11.9.Gear Manufacturing, --<br/>11.10.Interference and Undercutting, --<br/>11.11.Nonstandard Gearing, --<br/>11.12.Cartesian Coordinates of an Involute Tooth Generated with a Rack, --<br/>11.12.1.Coordinate Systems, --<br/>11.12.2.Gear Equations, --<br/>References, --<br/>Problems, --<br/>12.1.Helical Gears, --<br/>12.1.1.Helical Gear Terminology, --<br/>12.1.2.Helical Gear Manufacturing, --<br/>12.1.3.Minimum Tooth Number to Avoid Undercutting, --<br/>12.1.4.Helical Gears with Parallel Shafts, --<br/>12.1.5.Crossed Helical Gears, --<br/>12.2.Worm Gears, --<br/>12.2.1.Worm Gear Nomenclature, --<br/>12.3.Involute Bevel Gears, --<br/>12.3.1.Tredgold's Approximation for Bevel Gears, --<br/>12.3.2.Additional Nomenclature for Bevel Gears, --<br/>12.3.3.Crown Bevel Gears and Face Gears, --<br/>12.3.4.Miter Gears, Note continued: 12.3.5.Angular Bevel Gears, --<br/>12.3.6.Zerol Bevel Gears, --<br/>12.3.7.Spiral Bevel Gears, --<br/>12.3.8.Hypoid Gears, --<br/>References, --<br/>Problems, --<br/>13.1.General Gear Trains, --<br/>13.2.Direction of Rotation, --<br/>13.3.Simple Gear Trains, --<br/>13.3.1.Simple Reversing Mechanism, --<br/>13.4.Compound Gear Trains, --<br/>13.4.1.Concentric Gear Trains, --<br/>13.5.Planetary Gear Trains, --<br/>13.5.1.Planetary Gear Nomenclature, --<br/>13.5.2.Analysis of Planetary Gear Trains Using Equations, --<br/>13.5.3.Analysis of Planetary Gear Trains Using Tabular Method, --<br/>13.6.Harmonic Drive Speed Reducers, --<br/>References, --<br/>Problems, --<br/>14.1.Introduction, --<br/>14.2.Forces, Moments, and Couples, --<br/>14.3.Static Equilibrium, --<br/>14.4.Free-Body Diagrams, --<br/>14.5.Solution of Static Equilibrium Problems, --<br/>14.6.Transmission Angle in a Four-Bar Linkage, --<br/>14.7.Friction Considerations, --<br/>14.7.1.Friction in Cam Contact, --<br/>14.7.2.Friction in Slider Joints, --<br/>14.7.3.Friction in Revolute Joints, Note continued: 14.8.In-Plane and Out-of-Plane Force Systems, --<br/>14.9.Conservation of Energy and Power, --<br/>14.10.Virtual Work, --<br/>14.11.Gear Loads, --<br/>14.11.1.Spur Gears, --<br/>14.11.2.Helical Gears, --<br/>14.11.3.Worm Gears, --<br/>14.11.4.Straight Bevel Gears, --<br/>Problems, --<br/>15.1.Introduction, --<br/>15.2.Problems Solvable Using Particle Kinetics, --<br/>15.2.1.Dynamic Equilibrium of Systems of Particles, --<br/>15.2.2.Conservation of Energy, --<br/>15.2.3.Conservation of Momentum, --<br/>15.3.Dynamic Equilibrium of Systems of Rigid Bodies, --<br/>15.4.Flywheels, --<br/>Problems, --<br/>16.1.Introduction, --<br/>16.2.Single-Plane (Static) Balancing, --<br/>16.3.Multi-Plane (Dynamic) Balancing, --<br/>16.4.Balancing Reciprocating Masses, --<br/>16.4.1.Lumped Mass Distribution, --<br/>16.4.2.Balancing a Slider-Crank Mechanism, --<br/>16.5.Expressions for Inertial Forces, --<br/>16.6.Balancing Multi-Cylinder Machines, --<br/>16.6.1.Balancing a Three-Cylinder In-Line Engine, --<br/>16.6.2.Balancing an Eight-Cylinder V Engine, Note continued: 16.7.Static Balancing of Mechanisms, --<br/>16.7.1.Gravity Balancing of Planar Mechanisms: Examples, --<br/>16.7.2.Gravity-Balancing Orthosis, --<br/>16.8.Reactionless Mechanisms, --<br/>References, --<br/>Problems, --<br/>17.1.Introduction, --<br/>17.2.Computer Control of the Linkage Motion, --<br/>17.3.The Basics of Feedback Control, --<br/>17.4.Actuator Selection and Types, --<br/>17.4.1.Electric Actuation, --<br/>17.4.2.Hydraulic Actuation, --<br/>17.4.3.Pneumatic Actuation, --<br/>17.5.Hands-On Machine-Design Laboratory, --<br/>17.5.1.Examples of Class Projects, --<br/>References, --<br/>Problems,. |
